Login
Guest
Search for:
Browse:
Product Information:
Resources:
Industrial Robot: An International Journal
ISSN: 0143-991X
Online from: 1973
Subject Area: Mechanical & Materials Engineering
Content: Latest Issue | 
Latest Issue RSS | Previous Issues
Options: To add Favourites and Table of Contents Alerts please take a Emerald profile
On-line path planning strategy integrated with collision and dead-lock avoidance schemes for wheeled mobile robot in indoor environments
| Title: | On-line path planning strategy integrated with collision and dead-lock avoidance schemes for wheeled mobile robot in indoor environments |
|---|---|
| Author(s): | Ya-Chun Chang, (Graduate School of Tokai University, Hiratsuka, Japan), Yoshio Yamamoto, (Department of Precision Engineering, Tokai University, Hiratsuka, Japan) |
| Citation: | Ya-Chun Chang, Yoshio Yamamoto, (2008) "On-line path planning strategy integrated with collision and dead-lock avoidance schemes for wheeled mobile robot in indoor environments", Industrial Robot: An International Journal, Vol. 35 Iss: 5, pp.421 - 434 |
| Keywords: | Control systems, Linear motion, Navigation, Robotics |
| Article type: | Research paper |
| DOI: | 10.1108/01439910810893590 (Permanent URL) |
| Publisher: | Emerald Group Publishing Limited |
| Abstract: | Purpose – This paper aims to present a hybrid path planning algorithm which is designed for use of autonomous vehicles in indoor environments. The approach mainly contributes the ability of generating a safe and smooth collision avoidance path for attaining a desired position in an unknown and obstructed environment. Design/methodology/approach – The hybrid planner is based on potential field method and Voronoi diagram approach, and it is represented with the ability of concurrent map building and autonomous navigation. Findings – The possibility of controlling the look-ahead distance allows the mobile robot to smartly control the velocity for creating a smooth trajectory autonomously. The dead-lock problem is solved by defining necessary sub-goals between targets on the constructed map. Originality/value – The system controller (look-ahead control) with the potential field method allows the robot to generate a smooth and safe path for an expected position. Only essential exploration of unknown environment is performed since the approach constrains the mobile robot to explore a safe and sub-optimal route towards a destination. |
Fulltext Options:
Purchase
Downloadable; Printable; Owned
HTML, PDF (724kb)
To purchase this item please login or register.
Recommend to your librarian
Complete and print this form to request this document from your librarian
|
|
